Our goal is to perform semantic segmentation on a 360 point cloud. VolMap, a lightweight version of Unet [1]} has been used as in the architecture shown in Figure REF . VolMap model differs from the original Unet in the number of feature channels in the convolution layers, and the usage of upsampling layers instead of deconvolution. Added to that, only three levels of downsampling are used since the nature of our data does not require such a deep network.
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